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Inverse kinematics of the 2-RRS-1-RRRR cable actuated mechanism

##article.authors##

  • Isaac John Indian Institute of Technology Palakkad
  • Santhakumar Mohan Indian Institute of Technology Palakkad, 678623 Kerala, India https://orcid.org/0000-0003-1264-990X
  • Philippe Wenger Nantes Universite, Ecole Centrale de Nantes, CNRS, LS2N, 44000 Nantes

DOI:

https://doi.org/10.31224/6156

Keywords:

Parallel mechanisms, Polynomial homotopy continuation, Inverse displacement, Cable-actuated mechanisms

Abstract

This work presents an inverse kinematics (IK) formulation of a spatial, cable actuated 2-degree-of-freedom mechanism. The 2-RRS-1-RRRR mechanism studied in this work is derived from the well-known quaternion joint. The system of 13 constraint equations have mixed variables in joint and task spaces, and is solved using polynomial homotopy continuation. Further on, the extraneous solutions are eliminated using the filtering conditions.

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Posted

2026-01-03

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Copyright (c) 2026 Isaac John, Santhakumar Mohan, Philippe Wenger

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.